Hi all, I am working with Orocos-Toolchain to design a open (software) architecture of a robot that we have in our lab, and the computer we are using is a new one with multiple cores.

I have developed and tested multiple tasks with orocos-toolchain 2.1 on Gnulinux and they work perfectly; however, as I need hard real time for controlling the robot, I recompiled the components also with Orocos-Toolchian on Xenomai. They also worked.

The question is that, when I run the application with all components, then the computer gets blocked. Click below to read the rest of this post.

I'm just getting started with Orocos/RTT and I'm trying to figure out if there's a public C++ API for dynamically loading Orocos components. I see documentation on statically linking, as well as loading them with an Orocos script / from the deployer interface, but not directly from C++. Is there a way to do this?

A new major release of the Orocos Toolchain is available, the 4th since our 2.0 cycle started. This release confirms the trend of the previous releases: getting bugs out of the core libraries and extending/improving the tooling.

Notable improvements can be found in the rtt-lua scripting bindings, which is nearing its 1.0 release and widely used by now; a new appender for logging to Apache ChainSaw has been added to OCL's logging service; orogen/typegen has evolved further, including a generic POSIX mqueue transport and the RTT data flow implementation has been optimized to only have minimal copies of data. Various anoying bugs were fixed in RTT XML serialization, Taskbrowser and scripting.

I will use a CAN bus to communicate with a robot and I would like to have some tips. In this moment I have a PEAK USB-CAN interface, but as far as I know Real-Time systems don't support USB HW. Which HW interface do you recommend to work with?

I also saw that the previous version had some CANBus class that is not longer implemented in OROCOS 2.x. (Actually I am using the Orocos-ROS integration) Which could be the best way to work from my RT Orocos components with the CAN interfaces? Click below to read the rest of this post.